EP3151017B1 - Amr-geschwindigkeits- und richtungssensor für den einsatz mit magnetischen zielen - Google Patents

Amr-geschwindigkeits- und richtungssensor für den einsatz mit magnetischen zielen Download PDF

Info

Publication number
EP3151017B1
EP3151017B1 EP16190758.9A EP16190758A EP3151017B1 EP 3151017 B1 EP3151017 B1 EP 3151017B1 EP 16190758 A EP16190758 A EP 16190758A EP 3151017 B1 EP3151017 B1 EP 3151017B1
Authority
EP
European Patent Office
Prior art keywords
sensor
magnetic
portions
long
sensing element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16190758.9A
Other languages
English (en)
French (fr)
Other versions
EP3151017A2 (de
EP3151017A3 (de
Inventor
Anthony J. Bussan
Jason Chilcote
Joel Stolfus
Junheng Zhang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honeywell International Inc
Original Assignee
Honeywell International Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honeywell International Inc filed Critical Honeywell International Inc
Publication of EP3151017A2 publication Critical patent/EP3151017A2/de
Publication of EP3151017A3 publication Critical patent/EP3151017A3/de
Application granted granted Critical
Publication of EP3151017B1 publication Critical patent/EP3151017B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2454—Encoders incorporating incremental and absolute signals
    • G01D5/2455—Encoders incorporating incremental and absolute signals with incremental and absolute tracks on the same encoder
    • G01D5/2457—Incremental encoders having reference marks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane
    • G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
    • G01P13/045—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement with speed indication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
    • G01R33/09—Magnetoresistive devices
    • G01R33/096—Magnetoresistive devices anisotropic magnetoresistance sensors

Definitions

  • Magnetic sensing systems are used in a wide variety of applications including, for example, determining the speed and direction of an object such as a rotating shaft.
  • a magnetic sensing system could comprise two separate magnetic sensors and a target (typically a structure having magnetic poles) that are arranged so that each of the two magnetic sensors produces an output signal as the target rotates or moves with respect to the magnetic sensors.
  • the two magnetic sensors may be spaced at a predetermined distance from one another so as to create a phase shift between their output signals.
  • This phase shift can allow a designer (i) to use these output signals from the sensors to produce a higher resolution speed signal so that speed changes can be detected more quickly and (ii) to use the lead and lag information between the output signals from the two sensors in order to determine direction of rotation or movement of the target.
  • the phase shift between the outputs of two magnetic sensors is dependent on the spacing between the magnetic sensors and the spacing between the features of the rotating or moving target.
  • the target is a magnet, such as a ring magnet, with a plurality of evenly spaced magnetic poles.
  • the magnetic sensors are usually contained in separate packages, which makes it very difficult for the magnetic sensors to be arranged in a manner so that their output signals meet specified phase shift requirements.
  • the magnetic sensors must be very accurately manufactured and/or they must be dynamically adjusted so that their output signals meet the specified phase shift requirements. Otherwise, errors in the phase shift will lead to a miscalculation of the speed of the target and, if the phase error is large enough to allow the output signals to cross, to a miscalculation of the direction of the movement of the target.
  • Patent document number US2008/180089A1 describes a magnetic speed, direction and/or movement extent sensor.
  • a first magnetic sensor produces a first output signal in response to movement of a target such as a multi-pole ring magnet
  • a second magnetic sensor produces a second output signal in response to movement of the target.
  • the first and second magnetic sensors may be corresponding magnetoresistor sensors, the first and second magnetic sensors may be intertwined, the first and second magnetic sensors may be oriented at an angle with respect to one another so as to produce a difference in phase between the first and second output signals, the first and second magnetic sensors may be arranged so as to produce a 90 DEG phase difference between the first and second output signals, and/or the first and second magnetic sensors may be formed on a semiconductor substrate
  • Patent document number US2008/180090A1 describes a magnetic spped, direction and/or movement extent sensor.
  • a first magnetic sensor is formed on a semiconductor substrate, and the first magnetic sensor produces a first output signal in response to movement of a multi-pole magnet.
  • a second magnetic sensor is formed on the semiconductor substrate so as to be intertwined with the first magnetic sensor and so as to be at a predetermined angle with respect to the first magnetic sensor. The second magnetic sensor produces a second output signal in response to movement of the multi-pole magnet.
  • the predetermined angle is between 0 DEG and 180 DEG exclusive, and the predetermined angle is sufficient to produce a difference in phase between the first and second output signals.
  • An output signal converter converts the first and second output signals to a linear signal.
  • Patent document number EP0390261A2 describes a device for measuring a relative displacement.
  • the device comprises on the one hand an elongate scale consisting of a succession of magnetic north poles and south poles, and on the other hand a measuring head with at least a first and a second magnetic field sensor which are subjected to the effect of a magnetic field which alternates as a function of time due to the alternating passage of north poles and south poles during a displacement of the scale in its longitudinal direction with respect to the measuring head.
  • the two magnetic field sensors are arranged so that they are always situated opposite one and the same point on the scale, the first sensor being sensitive to variations in the magnetic field component extending parallel to the longitudinal direction of the scale, the second sensor being sensitive to variations in the component extending parallel to the connecting line between the scale and the measuring head. Because the points where the direction of these magnetic field components is reversed correspond to different points on the scale, the output signals of the two sensors are phase-shifted with respect to one another, so that the direction of the displacement can be readily determined.
  • Patent document number US6104186A describes a rotation detector.
  • a magnetoresistance element detects an angular position of a toothed gear rotated by an engine.
  • the element first element
  • the magnetic field direction is changed by the tooth, which is detected by the element even when the gear is not rotated before the engine starts.
  • an additional magnetoresistance element positioned perpendicularly to the first element may be used.
  • the gear tooth position is detected by the first element even when the gear is not rotated, and once the gear rotates, the second element detects an exact angular position of the gear.
  • Patent document number US7592803B1 describes an AMR gear tooth rotation sensor and a method for utilizing it are disclosed. These facilitate easy manufacture of the device without sacrificing either high sensitivity or high signal output. This is achieved by forming individual sensing elements out of AMR stripes and then connecting four such sensing elements as a Wheatstone bridge. The latter is attached to a permanent magnet that provides a bias field whose value rises and falls as wheel teeth and valleys (respectively) move past the rotation sensor.
  • Patent document number DE3634576A1 describes a speed-measuring device, in particular for antilock devices in vehicles, which has a means for generating a magnetic field, a gearwheel with gear rim of ferromagnetic material and a sensor which senses changes in the magnetic flux.
  • the gearwheel is inserted into the magnetic field.
  • the sensor is arranged on the circumference of the gearwheel at a distance from the gear rim of at least 1 mm and senses changes in the magnetic flux corresponding to the gearwheel rotation.
  • the sensor has four sensor elements with meandering conductors, which are wired in an electrical bridge circuit and are arranged on a platelet-shaped carrier.
  • the sensor has a preferred direction with high sensitivity and a transverse direction of lower sensitivity.
  • a biasing magnet which emits a static magnetic field.
  • the biasing magnet is aligned in the transverse direction of the sensor and is arranged eccentrically by a degree of asymmetry with respect to the centre axis of the sensor, pointing in the preferred direction.
  • Patent document number US3846697A describes a digital pickup for counting gear teeth and the like down to zero speed.
  • a pair of magneto-resistors mounted on a permanent magnet sense the gear teeth.
  • the magneto-resistors are connected in a bridge circuit and the bridge output triggers an integrated circuit switch incorporated in the pickup to produce a high voltage, low impedance digital output particularly suited for TTL logic.
  • Patent document number JP-H11-218405A describes a rotation position detector that drives at a high voltage and therewith accurately obtains a high output signal voltage at lower cost in a wide temperature range and a wide power voltage range.
  • Patent document number US2264834A describes a temperature compensating resistor.
  • Magnetic sensors are sometimes provided on the same integrated circuit and are spaced a certain distance apart. However, although this spacing may be good for one particular pole spacing, it will not be correct for another.
  • One solution is to fabricate an integrated circuit for each different ring magnet. However, making a new integrated circuit for every new spacing is expensive.
  • a movement sensor comprises a multi-pole ring magnet, a semiconductor substrate, a first magnetic sensor formed on the semiconductor substrate, and a second magnetic sensor formed on the semiconductor.
  • the first magnetic sensor is configured to produce a first output signal in response to movement of the multi-pole ring magnet
  • a centroid of the first magnetic sensor and a centroid of the second magnetic sensor are separate and radially aligned on the semiconductor substrate relative to the multi-pole ring magnet.
  • the second magnetic sensor is arranged at a predetermined angle with respect to the first magnetic sensor, and the second magnetic sensor is configured to produce a second output signal in response to the movement of the multi-pole ring magnet.
  • the predetermined angle is between 0° and 90° exclusive, and the predetermined angle is configured to produce a difference in phase between the first and second output signals in response to the movement of the multi-pole ring magnet.
  • the first magnetic sensor can have a length or width in the range of from about 100 microns to about 400 microns.
  • the first magnetic sensor can comprise a first magnetoresistive sensor, and the second magnetic sensor can comprise a second magnetoresistive sensor.
  • the first magnetic sensor can comprise first and second magnetic sensing elements connected so as to form a first bridge, and the first bridge can be configured to produce the first output signal in response to movement of the multi-pole magnet.
  • the second magnetic sensor can comprise third and fourth magnetic sensing elements connected so as to form a second bridge, and the second bridge can be configured to produce the second output signal in response to movement of the multi-pole magnet.
  • the first magnetic sensor can comprise first, second, third, and fourth magnetic sensing elements connected so as to form a first Wheatstone bridge, and the second magnetic sensor can comprise fifth, sixth, seventh, and eighth magnetic sensing elements connected so as to form a second Wheatstone bridge.
  • the movement sensor can also include one or more series resistors disposed in series with a source connector or an output connector of the first Wheatstone bridge or the second Wheatstone bridge. At least one of the one or more series resistors can comprise a negative temperature coefficient resistor.
  • the first, second, third, fourth, fifth, sixth, seventh, and eight magnetic sensing elements can comprise magnetoresistors.
  • the first magnetic sensor and the second magnetic sensor can be co-planar.
  • the first magnetic sensor can comprise a first magnetoresistor formed as a first serpentine sensor having long first portions interconnected by relatively shorter first portions, a second magnetoresistor formed as a second serpentine sensor having long second portions interconnected by relatively shorter second portions, a third magnetoresistor formed as a third serpentine sensor having long third portions interconnected by relatively shorter third portions, and a fourth magnetoresistor formed as a fourth serpentine sensor having long fourth portions interconnected by relatively shorter fourth portions.
  • the long first and third portions can be parallel to one another, and the long second and fourth portions can be parallel to one another.
  • the second magnetic sensor can comprise a fifth magnetoresistor formed as a fifth serpentine sensor having long fifth portions interconnected by relatively shorter fifth portions, a sixth magnetoresistor formed as a sixth serpentine sensor having long sixth portions interconnected by relatively shorter sixth portions, a seventh magnetoresistor formed as a seventh serpentine sensor having long seventh portions interconnected by relatively shorter seventh portions, and an eighth magnetoresistor formed as an eighth serpentine sensor having long eighth portions interconnected by relatively shorter eighth portions.
  • the long fifth and seventh portions can be parallel to one another
  • the long sixth and eighth portions can be parallel to one another
  • imaginary axes parallel to the long fifth and seventh portions can be perpendicular to imaginary axes parallel to the long sixth and eighth portions.
  • the imaginary axis parallel to the long fifth portions can be at a 45° angle with respect to the imaginary axes parallel to the long first and second portions
  • the imaginary axis parallel to the long sixth portions can be at a 45° angle with respect to the imaginary axes parallel to the long second and third portions
  • the imaginary axis parallel to the long seventh portions can be at a 45° angle with respect to the imaginary axes parallel to the long third and fourth portions
  • the imaginary axis parallel to the long eighth portions can be at a 45° angle with respect to the imaginary axes parallel to the long first and fourth portions.
  • the first magnetoresistor, the second magnetoresistor, the third magnetoresistor, and the fourth magnetoresistor can be concentric to each other, and the fifth magnetoresistor, the sixth magnetoresistor, the seventh magnetoresistor, and the eighth magnetoresistor can be concentric to each other.
  • the first serpentine sensor and the third serpentine sensor can be topologically between 1) the fifth and sixth serpentine sensors and 2) the seventh and eight serpentine sensors.
  • the predetermined angle can be about 45°.
  • the predetermined angle can comprise an angle to produce a 90° difference between the first and second output signals.
  • the multi-pole magnet can comprise a linear magnet having more than two poles.
  • a movement sensor comprises a multi-pole linear magnet, a semiconductor substrate, a first magnetic sensor formed on the semiconductor substrate, and a second magnetic sensor formed on the semiconductor.
  • the first magnetic sensor is configured to produce a first output signal in response to movement of the multi-pole linear magnet
  • a centroid of the first magnetic sensor and a centroid of the second magnetic sensor are separate and aligned on the semiconductor substrate along a line that is perpendicular to a surface of the multi-pole linear magnet.
  • the second magnetic sensor is arranged at a predetermined angle with respect to the first magnetic sensor, and the second magnetic sensor is configured to produce a second output signal in response to the movement of the multi-pole linear magnet.
  • the predetermined angle is configured to produce a difference in phase between the first and second output signals in response to the movement of the multi-pole ring magnet.
  • the first magnetic sensor can have a length or width in the range of from about 100 microns to about 400 microns.
  • the first magnetic sensor can comprise first, second, third, and fourth magnetic sensing elements connected so as to form a first Wheatstone bridge, and the second magnetic sensor can comprise fifth, sixth, seventh, and eighth magnetic sensing elements connected so as to form a second Wheatstone bridge.
  • the movement sensor can also include one or more series resistors disposed in series with a source connector or an output connector of the first Wheatstone bridge or the second Wheatstone bridge. At least one of the one or more series resistors can comprise a negative temperature coefficient resistor.
  • the first magnetic sensor and the second magnetic sensor can be co-planar.
  • a movement sensor comprises a multi-pole magnet, a semiconductor substrate, a first magnetic sensor formed on the semiconductor substrate, one or more series resistors disposed in series with a source connector or an output connector of the first Wheatstone bridge, and a second magnetic sensor formed on the semiconductor substrate.
  • the first magnetic sensor comprises a first magnetoresistor, a second magnetoresistor, a third magnetoresistor, and a fourth magnetoresistor, and the first magnetoresistor, the second magnetoresistor, the third magnetoresistor, and the fourth magnetoresistor are arranged to form a first Wheatstone bridge.
  • the second magnetic sensor produces a second output signal in response to movement of the multi-pole magnet.
  • the first magnetic sensor and the second magnetic sensor can be configured on the semiconductor substrate to be subjected to a substantially uniform magnetic field. At least one of the one or more series resistors can comprise a negative temperature coefficient resistor. First and second magnetic sensors can be configured on the semiconductor substrate to produce a 90° phase difference between the first and second output signals.
  • the multi-pole magnet can comprise a multi-pole ring magnet or a multi-pole linear magnet.
  • the first magnetic sensor can have a length or width in the range of from about 150 microns to about 300 microns.
  • the first magnetic sensor and the second magnetic sensor can have a combined width or length on the semiconductor substrate of between about 100 microns and about 400 microns.
  • a speed and direction sensor can include two magnetic sensors, which can each comprise magnetoresistors.
  • the orientation of each set of magnetoresistors in each sensor can be offset in angle to provide a phase difference in the output signal when subjected to a moving magnetic field.
  • the magnetoresistors disclosed herein are significantly smaller than previous elements in magnetic sensors. For example, the magnetoresistors may be about 1/4 th the size of prior magnetoresistors (e.g., in a range less than 400 microns in width and/or length). The small size of the resulting sensors may have a number of advantages.
  • the small size of the sensors may allow the two magnetic sensors to be aligned along the radial direction of a ring magnet target. The two elements may then be subjected to a substantially uniform magnetic field as a result of the alignment and the small size of the sensors. This may provide a signal having less noise than in other magnetic sensors.
  • one or more series resistors can be placed in the circuits on the inlet or outlet of the circuits.
  • one or more series resistors can be placed in series with the inlet voltage supply or the outlet ground connection. This may allow the magnetic sensors to operate with a reduced power consumption relative to a circuit without the series resistors.
  • the at least one of the series resistors may be a negative temperature coefficient resistor. The use of the negative temperature coefficient resistor may allow for temperature compensation of the overall circuit. For example, the negative temperature coefficient resistor may at least partially balance the increased resistance from the magnetoresistor elements to allow for operation of the device over a wide temperature range.
  • a sensor package 12 is positioned in proximity to a target 14, such as a wheel, so that the magnetic sensors contained in the sensor package 12 can be used to sense movement of the target 14. As disclosed below, this movement as sensed by the magnetic sensors in the sensor package 12 can then be used, as desired, to indicate speed and/or direction of movement or rotation of the target 14.
  • the sensor package 12 has various connectors 16, 18, 20, 22, 24, 26, 28, and 30.
  • the connector 16 may be used as a ground connection
  • the connectors 20 and 26 may be used as the output of one of the magnetic sensors contained in the sensor package 12
  • the connectors 22 and 24 may be used as the output of the other of the magnetic sensors contained in the sensor package 12
  • the connector 30 may be used for a source connection.
  • the connectors 18 and 28 are not used and may be omitted as desired.
  • the connectors 18 and 28 may be used for any desired purposes in other configurations.
  • FIG. 2 An example of the target is shown in FIG. 2 .
  • the target as illustrated in FIG. 2 is a multi-pole ring magnet 32.
  • a first plurality of poles 34 are evenly spaced around the multi-pole ring magnet 32 and are separated by a second plurality of poles 36.
  • the poles 34 for example, may be South poles, and the poles 36, for example, may be North poles. There will always be a south pole for every north pole and vice versa.
  • other targets such as a gear target, may be used in connection with the present invention.
  • FIG. 3A shows two magnetic sensors 40 and 42 that can be contained in the sensor package.
  • the two magnetic sensors 42 and 40 can be formed as bridges A and B, respectively, on a semiconductor substrate 44 using standard integrated circuit fabrication techniques such that the bridges A and B are topologically adjacent each other and are rotated by 45 degrees with respect to one another as shown in FIG. 3A .
  • a centroid 51 can be defined for bridge A that represents the center of mass of the magnetoresistive elements 46, 48, 50, 52.
  • a centroid 53 can be defined for bridge B that represents the center of mass of the magnetoresistive elements 54, 56, 58, 60. While illustrated in FIG. 3A , the centroids 51, 53 are shown for purposes of illustration only and are not present in the sensors.
  • the bridges A and B can be substantially radially aligned with a center of the target 32 (e.g., along radius 33) along the substrate 44 so that the bridges A and B are in alignment with the magnetic field produced by the target 32.
  • the resulting configuration results in the centroid 51, 53 of each bridge A and B, respectively, being separate and radially aligned with the center of the target 32.
  • the magnetic sensor 40 includes four magnetoresistors 46, 48, 50, and 52, and the magnetic sensor 42 includes four magnetoresistors 54, 56, 58, and 60. As described in more detail below, the magnetic sensors 40 and 42 can each be arranged as a Wheatstone bridge.
  • magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60 may be formed according to desired topology
  • the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60, in the embodiment shown in FIG. 3A are formed as serpentine sensors each having parallel elongated portions that can be joined at their ends by relatively short portions to form the serpentine arrangements shown in FIG. 3A .
  • the elongated portions of the magnetoresistor 46 are formed parallel to a first axis that is perpendicular to a second axis that is parallel to the elongated portions of the magnetoresistor 48, the second axis that is parallel to the elongated portions of the magnetoresistor 48 is perpendicular to a third axis that is parallel to the elongated portions of the magnetoresistor 50, the third axis that is parallel to the elongated portions of the magnetoresistor 50 is perpendicular to a fourth axis that is parallel to the elongated portions of the magnetoresistor 52, and the fourth axis that is parallel to elongated portions of the magnetoresistor 52 is perpendicular to the first axis that is parallel to the elongated portions of the magnetoresistor 46.
  • the elongated portions of the magnetoresistor 54 are formed along a fifth axis that is perpendicular to a sixth axis that is parallel to the elongated portions of the magnetoresistor 56, the sixth axis that is parallel to the elongated portions of the magnetoresistor 56 is perpendicular to a seventh axis that is parallel to the elongated portions of the magnetoresistor 58, the seventh axis that is parallel to the elongated portions of the magnetoresistor 58 is perpendicular to an eighth axis that is parallel to the elongated portions of the magneto resistor 60, and the eighth axis that is parallel to the elongated portions of the magnetoresistor 60 is perpendicular to fifth axis that is parallel to the elongated portions of the magnetoresistor 54.
  • the first, second, third, and fourth axes of the magnetoresistors 54, 56, 58, and 60 are offset at an angle of 45 degrees with respect to the fifth, sixth, seventh, and eighth axes of adjacent ones of the magnetoresistors 46, 48, 50, and 52.
  • the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60 can be arranged to form a relatively compact arrangement.
  • a relatively small size of the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60, and the corresponding bridges A and B formed by the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60 can allow the bridges A and B to be present within a more uniform magnetic field.
  • the exposure of the bridges A and B to a more uniform magnetic field may provide a sharper signal with less noise for the detection of the speed and/or direction of travel or rotation of the target.
  • the bridges may have a width and/or length between about 100 microns and about 400 microns, or between about 150 microns and about 300 microns.
  • Each individual magnetoresistor may have a length and/or width between about 50 microns to about 150 microns.
  • the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60 as formed on the semiconductor substrate 44 may be coplanar.
  • the two bridges A and B can be placed in close proximity so that the overall size of the sensor package can be maintained as a compact design.
  • the bridges A and B can be concentric to themselves without being concentric to each other.
  • a bridge may have an overall size around 150 microns by 300 microns.
  • the dimension aligned with the radius of the target may be between about 100 to about 300 microns. Since the magnetic field tends to be uniform in a radial alignment, the two bridges A and B as shown in FIG. 3A can be aligned along the radial direction. Such small sizes and arrangement of the bridges A and B can allow for the formation of a compact bridge and sensor package.
  • the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60 can be arranged in different configurations while still being configured as bridges A and B.
  • the relative size of the overall sensor package can be maintained in the same ranges as described with respect to FIG. 3A while having different configurations.
  • the magnetoresistors 46, 48, 50, 52 in bridge B can be the same or similar in length and design to the magnetoresistors 54, 56, 58, 60 in bridge A.
  • the relative orientation of the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60 within each bridge A and B, and between each bridge A and B are the same or similar to those shown in FIG. 3A .
  • FIG. 3A As with the configuration of FIG.
  • the bridges A and B can be aligned adjacent to each other, and in some embodiments, the bridges A and B can be aligned in the radial direction with respect to the target. As with the bridges A and B illustrated in FIG. 3A , the centroid 51, 53 of each bridge A and B, respectively, are separate and radially aligned with respect to the center of the target 32.
  • the magnetoresistors 46, 48, 50, 52 in bridge B can be intertwined with the magnetoresistors 54, 56, 58, 60 in bridge A.
  • the relative orientation of the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60 within each bridge A and B, and between each bridge A and B are the same or similar to those shown in FIG. 3A .
  • the magnetoresistors 48 and 52 of bridge B can be disposed between the magnetoresistors 56, 54 and magnetoresistors 58, 60 of bridge A.
  • the magnetoresistors 58, 60 of bridge A can be disposed between the magnetoresistors 48, 52 and magnetoresistors 50, 46 of bridge B.
  • the two bridges can be intertwined in order to expose both bridges A and B to approximately the same magnetic field.
  • the sensor When combined with the relatively small size of the bridges and sensor package, the sensor may have a reduced noise and improved resolution of the resulting signal.
  • FIG. 4 illustrates a circuit diagram for the bridge configuration of bridge A.
  • the source (V+) connector 30 is connected to one end of the magnetoresistors 46 and 48
  • the ground connector 16 is connected to one end of the magnetoresistors 50 and 52.
  • the other ends of the magnetoresistors 48 and 50 are connected together and to the bridge A output connector 20, and the other ends of the magnetoresistors 46 and 52 are connected together and to the bridge A output connector 26.
  • FIG. 5 illustrates a circuit diagram for the bridge configuration of bridge B.
  • the source (V+) connector 30 is connected to one end of the magnetoresistors 54 and 56, and the ground connector 16 is connected to one end of the magnetoresistors 58 and 60.
  • the other ends of the magnetoresistors 56 and 58 are connected together and to the bridge B output connector 22, and the other ends of the magnetoresistors 54 and 60 are connected together and to the bridge B output connector 24.
  • FIG. 6 illustrates a circuit diagram of a Wheatstone bridge 400 that can be used with bridge A or bridge B.
  • the resistors 402, 404, 406, and 408 are arranged in a Wheatstone bridge configuration.
  • the resistors 402, 404, 406, 408 can comprise magnetoresistors including any of those described with respect to the bridge A or bridge B designs.
  • the resistors 402, 404, 406, 408 can comprise resistors 48, 46, 52, and 50 of bridge A, respectively.
  • the resistors 402, 404, 406, 408 can comprise resistors 56, 54, 60, and 58 of bridge B, respectively. As shown in FIG.
  • the source (V+) connector 430 can be connected to one end of the magnetoresistors 402 and 404, and the ground connector 416 can be connected to one end of the magnetoresistors 406 and 408.
  • the other ends of the magnetoresistors 402 and 408 are connected together and to the bridge 400 output connector 422, and the other ends of the magnetoresistors 404 and 406 are connected together and to the bridge 400 output connector 420.
  • the main difference between the bridge designs of FIG. 4 and FIG. 5 and the bridge design of FIG. 6 is the inclusion of two series resistors 440, 442 that can serve to limit the current consumption of the bridge.
  • the first resistor 440 can be electrically connected between the source connector 430 and one end of the magnetoresistors 402 and 404.
  • the second resistor 442 can be electrically connected between the ground connector 416 and one end of the magnetoresistors 406 and 408. Due to the small size of the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60 used in the bridges, the resistance obtained from the magnetoresistors themselves may result in a large current consumption for the sensor.
  • One or both of the series resistors 440, 442 can be used to limit the overal current consumption for the device. While two series resistors 440, 442 are shown in FIG. 6 , it will be appreciated that a single series resistor 440, or 442 can be used in the bridge 400 with similar results, where the total resistance when a single series resistor is used can be the same or similar to the total resistance for two series resistors when two series resistors 440, 442 are used. in some embodiments, more than two series resistors can be used in the bridge design.
  • one or more of the series resistors 440, 442 can comprise negative temperature coefficient resistors.
  • the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60 can be formed from materials having a positive temperature coefficient with respect to resistance so that the resistance of these elements increases with increasing temperature. This effect can limit the useful temperature range of the device.
  • one or more of the series resistors can comprise a material having a negative temperature coefficient so that the resistance decreases with increasing temperature.
  • the resistance and negative temperature coefficient of the resistive material can be selected to balance the increase in resistance with increasing temperature effects in the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60.
  • a plurality of series resistors comprise negative temperature coefficient resistors
  • the material selection may be the same or different, and the resistors may have the same or different resistances in order to balance the positive temperature coefficient resistance effects of the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60.
  • FIG. 7A illustrates an example of a circuit 70 that receives the outputs from the bridges A and B and uses these outputs to produce a speed signal and/or a direction signal that indicates the speed and/or direction of movement of the target.
  • the circuit 70 includes a first signal conditioner 72 that is connected to connectors 20 and 26 in order to receive the outputs from the bridge A.
  • the first signal conditioner 72 may include, for example, buffers, amplifiers, switches, and/or such other apparatus as are suitable for providing a square wave output signal 74 having a frequency dependent upon the speed of the target 14 and the number of poles on the target 14.
  • the circuit 70 further includes a second signal conditioner 76 that is connected to connectors 22 and 24 in order to receive the outputs from the bridge B.
  • the second signal conditioner 76 may include, for example, buffers, amplifiers, switches, and/or such other apparatus as are suitable for providing a square wave output signal 78 having a frequency dependent upon the speed of the target and the number of poles on the target.
  • the square wave output signal 74 is shifted in phase by 90 degrees with respect to the square wave output signal 78.
  • This phase shift is shown in FIG. 7B .
  • the phase is very accurately centered at 90 degrees of phase shift.
  • phase shift also will be independent of the magnet pole size over the typical range of poles sizes commonly used in ring magnet sensing. Because the phase shift is set by the relative rotation of the bridges A and B during the integrated circuit fabrication process, tight manufacturing tolerances or adjustments may not be needed to control the phase shift.
  • the square wave output signals 74 and 78 are combined by an EXCLUSIVE OR 80 so as to produce a square wave output signal 82.
  • the relationship between the square wave output signals 74, 78, and 82 is shown in FIG. 7B .
  • a speed detector 84 uses the square wave output signal 82 in order to determine the speed of the target and provides a speed output indicating this speed.
  • the use of the EXCLUSIVE OR 80 doubles the frequency of the output signal as compared to the square wave output signal 74 or the square wave output signal 78 and, therefore, doubles the resolution of the speed indicating signal provided by the speed detector 84 based on only one of the bridges A and B.
  • the speed detector 84 can determine the speed of the target from the square wave output signal 82 in any of a variety of ways. For example, knowing the number of pulses required for the target to move through a predetermined angle, the speed detector 84 can determine the amount of the time that is required for the target to move through this predetermined angle and can use this angle and time information to determine speed. Alternatively, the speed detector 84 can determine the frequency of the square wave output signal 82 and can perform a look up that correlates frequency with speed for a particular form of the target. As will be understood by those skilled in the art, there are many other ways for determining the speed of the target from the square wave output signal 82.
  • the square wave output signals 74 and 78 can also be used to determine the direction of movement of the target.
  • One manner of determining the direction of movement of the target 14 is shown in FIG. 7A .
  • the square wave output signal 74 is supplied to the D input of a D flip-flop 86
  • the square wave output signal 78 is supplied to the clock input of the D flip-flop 86.
  • the Q output will be at a high state when the target is moving in one direction, and the Q output will be at a low state when the target is moving in the other direction.
  • the state of the Q output indicates the direction of movement of the target.
  • the square wave output signals 74 and 78 enter the corresponding D and clock inputs of the D flip-flop 86 in a particular fashion, say from left to right as viewed in FIG. 7B .
  • the square wave output signals 74 and 78 enter the D and clock inputs of the D flip-flop 86 from left to right as viewed in FIG. 7B
  • each rising edge 88 of the square wave output signal 78 enters the clock input of the D flip-flop when the square wave output signal 74 is low. Accordingly, the Q output of the D flip-flop 86 is at a low state, thus indicating the first direction of movement of the target.
  • the square wave output signals 74 and 78 enter the corresponding D and clock inputs of the D flip-flop 86 in the opposite fashion, say from right to left as viewed in FIG. 7B .
  • the square wave output signals 74 and 78 enter the D and clock inputs of the D flip-flop 86 from right to left as shown in FIG. 7B
  • each rising edge 90 of the square wave output signal 78 enters the clock input of the D flip-flop when the square wave output signal 74 is high. Accordingly, the Q output of the D flip-flop is at a high state, thus indicating the second or opposite direction of movement of the target.
  • Each of the magnetoresistors may be a corresponding Anisotropic MagnetoResistive (AMR) sensor.
  • AMR Anisotropic MagnetoResistive
  • Such sensors are non-polarity sensitive, so a complete magnetic signal cycle (roughly equivalent to a full sine wave) is achieved for each ring magnet pole.
  • some magnetic sensors such as Hall effect sensors are polarity sensitive and need two ring magnet poles (or one pole-pair) to achieve a complete magnetic signal cycle. So double the resolution can be achieved by selecting a magnetoresistor sensor.
  • the two bridges forming the magnetic sensors can occupy the same area on the semiconductor substrate and may be fabricated on the semiconductor substrate using standard integrated circuit fabrication techniques.
  • Bridges A and B formed by the magnetic sensors can be rotated 45 degrees with respect to one another such that one bridge signal is naturally shifted 90 degrees out of phase with respect to other bridge signal. This arrangement produces four times the resolution of a typical Hall effect sensor and twice the resolution of a single magnetoresistor sensor.
  • phase is very accurately centered on 90 degrees of phase shift because the magnetoresistor bridges A and B occupy approximately the same space on the semiconductor substrate and are very accurately rotated with respect to one another due to the inherent accuracy of the integrated circuit fabrication process. Due to the relatively small size of the bridge designs disclosed herein, the sensors may occupy less space on the semiconductor substrate and be exposed to a more uniform magnetic field than previous designs.
  • the sensor package requires no modification if it is used with different multi-pole ring magnets having different numbers of poles and/or pole sizes.
  • the phase shift between the two bridge signals 74 and 78 is independent of the magnet pole size over the typical range of pole sizes commonly used in ring magnet sensing. Because the phase shift is set by the rotational orientation of the bridges A and B in the integrated circuit wafer process, no tight manufacturing tolerances and/or adjustments are needed to control the phase shift.
  • FIG. 8 illustrates an example of an alternative circuit 100 that receives the outputs from the bridges A and B and uses these outputs to produce a speed signal and/or a direction signal that indicates the speed and/or direction of movement of the target.
  • the circuit 100 includes a first signal conditioner 102 that is connected to connectors 20 and 26 in order to receive the outputs from the bridge A.
  • the first signal conditioner 102 may include, for example, buffers, amplifiers, switches, and/or such other apparatus as are suitable for providing a square wave output signal 104 having a frequency dependent upon the speed of the target 14 and the number of poles on the target.
  • the circuit 100 further includes a second signal conditioner 106 that is connected to connectors 22 and 24 in order to receive the outputs from the bridge B.
  • the second signal conditioner 106 may similarly include, for example, buffers, amplifiers, switches, and/or such other apparatus as are suitable for providing a square wave output signal 108 having a frequency dependent upon the speed of the target 14 and the number of poles on the target.
  • the square wave output signal 104 is shifted in phase by 90 degrees with respect to the square wave output signal 108.
  • This phase shift corresponds to the phase shift between the bridges A and B output magnetic waveforms as shown at the top of FIG. 9 .
  • the phase is very accurately centered at 90 degrees of phase shift.
  • phase shift also will be independent of the magnet pole size over the typical range of poles sizes commonly used in ring magnet sensing. Because the phase shift is set by the relative rotation of the bridges A and B during the integrated circuit fabrication process, no tight manufacturing tolerances or adjustments are required to control the phase shift.
  • the square wave output signals 104 and 108 are combined by an EXCLUSIVE OR 110 so as to produce a square wave output signal 112 shown in FIG. 9 .
  • a speed detector 114 uses the square wave output signal 112 in order to determine the speed of the target and provides a speed output indicating this speed. The speed detector 114 can determine the speed of the target 14 from the square wave output signal 112 in a manner similar to that used by the speed detector 84 of FIG. 7A
  • the square wave output signals 104 and 108 can also be used to determine the direction of movement of the target 14.
  • the square wave output signal 112 is supplied to the D input of a D flip-flop 116.
  • the square wave output signal 104 is also supplied to a delay 118, and the output of the delay 118 is connected directly to a first input of an EXCLUSIVE NOR 120 and indirectly through a delay 122 to a second input of the EXCLUSIVE NOR 120.
  • the output of the EXCLUSIVE NOR 120 is provided as a signal 124 shown in FIG. 9 to the clock input of the D flip-flop 116.
  • the delay imposed by the delay 118 provides the necessary setup time (D to be settled before clock edge arrives) for the D flip-flop 116.
  • the delay imposed by the delay 122 provides the minimum clock width for the D flip-flop 116.
  • the square wave output signals 104 and 108 are also combined by an EXCLUSIVE NOR 126 so as to produce a square wave output signal 128 shown in FIG. 9 .
  • the square wave output signal 128 is supplied to the D input of a D flip-flop 130.
  • the square wave output signal 108 is also supplied to a delay 132, and the output of the delay 132 is connected directly to a first input of an EXCLUSIVE NOR 134 and indirectly through a delay 136 to a second input of the EXCLUSIVE NOR 134.
  • the output of the EXCLUSIVE NOR 134 is provided as a signal 138 shown in FIG. 9 to the clock input of the D flip-flop 130.
  • the delay imposed by the delay 132 provides the necessary setup time (D to be settled before clock edge arrives) for the 3 flip-flop 130.
  • the delay imposed by the delay 136 provides the minimum clock width for the D flip-flop 130.
  • the Q outputs of the D flip-flops 116 and 130 are capacitively OR's by a circuit 140 and the resulting pulse is inverted and held by an inverter 142 to provide a direction signal 144 shown in FIG. 9 .
  • the direction signal 144 is at a high state when the target is moving in one direction, and the direction signal 144 is at a low state when the target is moving in the other direction.
  • the resistor and capacitor values in the circuit 140 are chosen to set the voltage midway between the hysteresis band (internal to the inverter 142 in this example). These resistor and capacitor values also set the minimum time that an additional direction change will be detected.
  • Circuits other than the circuits 70 and 100 can be used depending upon the specific application, including considerations of the type of output (e.g., speed, direction, speed and direction, etc.) needed.
  • a linear multi-pole magnet 200 shown in FIG. 10 could be used with the sensor package 12 to detect movement extent, rate, and/or direction.
  • the circuits shown in FIGS. 7A and 8 could be used in connection with the linear multi-pole magnet 200.
  • the bridges A and B may be aligned in a direction perpendicular to a surface of the multi-pole magnet 200.
  • the centroids of each bridge A and B can be separate and aligned in a direction perpendicular to the surface of the multi-pole magnet 200. This orientation may allow the two bridges A and B to be subjected to the same magnetic field
  • an output signal converter 300 is provided in order to convert the outputs from two magnetic sensors to a linear signal such as a linear voltage ramp signal.
  • the two magnetic sensors are interwoven on the same semiconductor substrate and are rotated with respect to one another by an amount sufficient to shift their outputs by 90 degree with respect to one another.
  • These magnetic sensors may be in the form of bridges shown in FIGS. 4-6 , and may be arranged on the same semiconductor substrate and rotated with respect to one another by 90 degrees as shown in FIGS. 3A-3C .
  • the outputs from the two magnetic sensors for convenience, may be designated as VA and VB, and are provided as two of the inputs to the output signal converter 300 shown in FIG. 11 .
  • a third input representing the DC bias of the magnetic sensors is also provided to the output signal converter 300.
  • the output signal converter 300 includes a divider 302 that subtracts the DC bias from VA and VB and then divides the result to produce the following quantity: VA ⁇ V ref VB ⁇ V ref
  • An arctangent calculator 304 calculates the arctangent of quantity (1) to produce the following quantity: arctan VA ⁇ V ref VB ⁇ V ref
  • V ramp is an analog voltage ramp signal that can be used to provide an even higher resolution speed output that described previously herein.
  • the linear ramp voltage V ramp may be used instead of, or in addition to, the signal 82 and/or 112 previously described.
  • This higher resolution can be important particularly because there is generally a physical limit to the number of magnet poles that can be applied in a given area of the target. This higher resolution can also be important when slow speeds of the target are to be detected.
  • Equation (3) can be refined to improve accuracy and/or linearity of the linear ramp voltage V ramp by determining a separate reference voltage for each of the magnetic sensors according to the following equation:
  • V ramp arctan VA ⁇ V A max + V A min 2 VB ⁇ V B max + V B min 2 + V ref
  • V ref in equation (4) is still determined as 1/2 of the sensor or bridge supply voltage. Another refinement is to correct for gain error between the two signals VA and VB.
  • V ramp arctan VA ⁇ V A max + V A min 2 N VB ⁇ V B max + V B min 2 + V ref
  • the output signal converter 300 may be in discrete components such as those shown in FIG. 11 or the output signal converter 300 may comprise a computer or other processor that makes the calculations described above. Alternatively, the output signal converter 300 may be an application specific integrated circuit (ASIC), a programmable field array, etc.
  • ASIC application specific integrated circuit
  • FIG. 12 illustrates the signals VA, VB, and V ramp .
  • a speed detector 310 includes a plurality of comparators 312 1 , 312 2 , ..., 312 n each of which receives the linear ramp voltage V ramp and each having a different trip point set by a corresponding one of a plurality of threshold set circuits 314 1 , 314 2 , ..., 314 n , where n can be any number depending on the desired number of trip points (i.e., resolution).
  • a corresponding one of the comparators 312 1 , 312 2 , ... , 312 n provides an output speed 1 .
  • the one of the comparators 312 1 , 312 2 , ... , 312 n corresponding to this next trip point provides an output, speed 2 .
  • the to comparators 312 1 , 312 2 , ... , 312 n continue to trip to produce the outputs speed 3 through speed n .
  • the elapsed time between the outputs speed 1 , speed 2 , speed 3 , ..., speed n indicates the speed of the target, and the order in which the outputs speed 1 , speed 2 , speed 3 , ..., speed n are produced indicates the direction of the target.
  • an alternative speed detector 320 includes an analog to digital converter 322 and a processor 324.
  • the processor 324 computes speed of the target from the digital output of the analog to digital converter 322.
  • the processor 324 may determine the speed of the target from the slope of the linear ramp voltage V ramp .
  • the direction of movement of the target can be determined from the sign of the slope of the linear ramp voltage V ramp .
  • this slope can be determined by the processor 324.
  • the linear ramp voltage V ramp avoids the use of pole pieces that are too small and that cannot, therefore, provide sufficient magnetic field strength to be sensed. Also, use of the linear ramp voltage V ramp results in higher resolution.
  • D flip-flop 86 is used to determine direction of movement of the target 14.
  • other mechanisms can be used to determine direction of movement of the target 14.
  • the magnetic sensor 40 is generally shown in the drawings and described above as a Wheatstone bridge comprising four sensing elements
  • the magnetic sensor 42 is also generally shown in the drawings and described above as a Wheatstone bridge comprising four sensing elements.
  • the magnetic sensors 40 and 42 may have other arrangements.
  • the magnetic sensor 40 may be a two element bridge comprising two sensing elements
  • the magnetic sensor 42 may likewise be a two element bridge comprising two sensing elements.
  • each of the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60 may be a corresponding Anisotropic MagnetoResistive (AMR) sensor.
  • AMR Anisotropic MagnetoResistive
  • other magnetoresistive elements may be used for the magnetoresistors 46, 48, 50, 52, 54, 56, 58, and 60.
  • GMR giant magnetoresistor
  • one, two, or more sensors can be integrated on the semiconductor substrate 44.
  • n sensors can be provided such that the elements (magnetoresistors) would occur every 90/n degrees.
  • Using two bridges instead of one, both direction information and increased resolution are gained. After two bridges, however, only increased resolution is gained.
  • circuit 70 may be fabricated as an integrated circuit on the semiconductor substrate 44, or may be fabricated as an integrated circuit on a substrate that is separate from the semiconductor substrate 44, or may be fabricated as a discrete element circuit.
  • the sensors as described here are used to detect speed and direction of a target. They can also be used to detect the extent of movement of the target.
  • V ramp arctan VA VB

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measuring Magnetic Variables (AREA)

Claims (13)

  1. Bewegungssensor, der Folgendes enthält:
    einen mehrpoligen Ringmagneten;
    ein Halbleitersubstrat (44);
    einen ersten Magnetsensor (40), der auf dem Halbleitersubstrat (44) gebildet ist, wobei der erste Magnetsensor (40) konfiguriert ist, als Antwort auf eine Bewegung des mehrpoligen Ringmagneten ein erstes Ausgangssignal zu erzeugen, und
    einen zweiten Magnetsensor (42), der auf dem Halbleitersubstrat (44) gebildet ist, wobei ein Schwerpunkt (51) des ersten Magnetsensors (40) und ein Schwerpunkt (53) des zweiten Magnetsensors (42) getrennt und auf dem Halbleitersubstrat (44) in Bezug auf das Zentrum des mehrpoligen Ringmagneten radial ausgerichtet sind, wobei der zweite Magnetsensor (42) in einem vorgegebenen Winkel in Bezug auf den ersten Magnetsensor (40) angeordnet ist und der zweite Magnetsensor (42) konfiguriert ist, als Antwort auf eine Bewegung des mehrpoligen Ringmagneten ein zweites Ausgangssignal zu erzeugen, wobei der vorgegebene Winkel im Bereich von 0° bis ausschließlich 90° liegt und der vorgegebene Winkel konfiguriert ist, als Antwort auf eine Bewegung des mehrpoligen Ringmagneten eine Phasendifferenz zwischen dem ersten und dem zweiten Ausgangssignal zu erzeugen; wobei
    der erste Magnetsensor (40) ein erstes Magnetsensorelement, ein zweites Magnetsensorelement, ein drittes Magnetsensorelement und ein viertes Magnetsensorelement (46, 48, 50, 52) enthält, die derart verbunden sind, dass sie eine erste Wheatstone-Brücke bilden, und der zweite Magnetsensor (42) ein fünftes Magnetsensorelement, ein sechstes Magnetsensorelement, ein siebtes Magnetsensorelement und ein achtes Magnetsensorelement (54, 56, 58, 60) enthält, die derart verbunden sind, dass sie eine zweite Wheatstone-Brücke bilden;
    der Schwerpunkt (51) des ersten Magnetsensors (40) ein Massenschwerpunkt des ersten Magnetsensorelements, des zweiten Magnetsensorelements, des dritten Magnetsensorelements und des vierten Magnetsensorelements (46, 48, 50, 52) ist;
    der Schwerpunkt (53) des zweiten Magnetsensors (42) ein Massenschwerpunkt des fünften Magnetsensorelements, des sechsten Magnetsensorelements, des siebten Magnetsensorelements und des achten Magnetsensorelements (54, 56, 58, 60) ist und
    die Größe und die radiale Ausrichtung der zwei Magnetsensoren (40, 42) derart ausgewählt ist, dass sie einem im Wesentlichen einheitlichen Magnetfeld ausgesetzt sind.
  2. Bewegungssensor nach Anspruch 1, wobei der erste Magnetsensor (40) eine Länge im Bereich von etwa 100 Mikrometern bis etwa 400 Mikrometern besitzt.
  3. Bewegungssensor nach Anspruch 1, wobei der erste Magnetsensor (40) einen ersten magnetoresistiven Sensor umfasst und der zweite Magnetsensor (42) einen zweiten magnetoresistiven Sensor umfasst.
  4. Bewegungssensor nach Anspruch 1, wobei die erste Wheatstone-Brücke konfiguriert ist, das erste Ausgangssignal als Antwort auf eine Bewegung des mehrpoligen Magneten zu erzeugen und die zweite Wheatstone-Brücke konfiguriert ist, das zweite Ausgangssignal als Antwort auf eine Bewegung des mehrpoligen Magneten zu erzeugen.
  5. Bewegungssensor nach Anspruch 1, der ferner einen oder mehrere in Reihe geschaltete Widerstände (440, 442) enthält, die in Reihe mit einem Quellenverbinder (30, 430) oder einem Ausgangsverbinder (16, 416) der ersten Wheatstone-Brücke oder der zweiten Wheatstone-Brücke angeordnet sind.
  6. Bewegungssensor nach Anspruch 5, wobei mindestens einer des einen oder der mehreren in Reihe geschalteten Widerstände (440, 442) einen Widerstand mit einem negativem Temperaturkoeffizienten umfasst.
  7. Bewegungssensor nach Anspruch 1, wobei der erste Magnetsensor (40) und der zweite Magnetsensor (42) komplanar sind.
  8. Bewegungssensor nach Anspruch 1, wobei
    das erste Magnetsensorelement einen ersten Magnetowiderstand, der als ein erster Serpentinensensor, der lange erste Abschnitte, die durch relativ kürzere erst4 Abschnitte verbunden sind, besitzt, gebildet ist, umfasst;
    das zweite Magnetsensorelement einen zweiten Magnetowiderstand, der als ein zweiter Serpentinensensor, der lange zweite Abschnitte, die durch relativ kürzere zweite Abschnitte verbunden sind, besitzt, gebildet ist, umfasst;
    das dritte Magnetsensorelement einen dritten Magnetowiderstand, der als ein dritter Serpentinensensor, der lange dritte Abschnitte, die durch relativ kürzere dritte Abschnitte verbunden sind, besitzt, gebildet ist, umfasst; und
    das vierte Magnetsensorelement einen vierten Magnetowiderstand, der als ein vierter Serpentinensensor, der lange vierte Abschnitte, die durch relativ kürzere vierte Abschnitte verbunden sind, besitzt, gebildet ist, umfasst; wobei
    die langen ersten und dritten Abschnitte parallel zueinander sind, die langen zweiten und vierten Abschnitte parallel zueinander sind und gedachte Achsen, die parallel zu den langen ersten und dritten Abschnitten sind, senkrecht zu gedachten Achsen, die parallel zu den langen zweiten und vierten Abschnitten sind, sind, und
    das fünfte Magnetsensorelement einen fünften Magnetowiderstand, der als ein fünfter Serpentinensensor, der lange fünfte Abschnitte, die durch relativ kürzere fünfte Abschnitte verbunden sind, besitzt, gebildet ist, umfasst;
    das sechste Magnetsensorelement einen sechsten Magnetowiderstand, der als ein sechster Serpentinensensor, der lange sechste Abschnitte, die durch relativ kürzere sechste Abschnitte verbunden sind, besitzt, gebildet ist, umfasst;
    das siebte Magnetsensorelement einen siebten Magnetowiderstand, der als ein siebter Serpentinensensor, der lange siebte Abschnitte, die durch relativ kürzere siebte Abschnitte verbunden sind, besitzt, gebildet ist, umfasst; und
    das achte Magnetsensorelement einen achten Magnetowiderstand, der als ein achter Serpentinensensor, der lange achte Abschnitte, die durch relativ kürzere achte Abschnitte verbunden sind, besitzt, gebildet ist, umfasst; wobei
    die langen fünften und siebten Abschnitte parallel zueinander sind, die langen sechsten und achten Abschnitte parallel zueinander sind und gedachte Achsen, die parallel zu den langen fünften und siebten Abschnitten sind, senkrecht zu gedachten Achsen, die parallel zu den langen sechsten und achten Abschnitten sind, sind, wobei
    die gedachte Achse, die parallel zu den langen fünften Abschnitten ist, in einem 45°-Winkel in Bezug auf die gedachte Achse, die parallel zu den langen ersten und zweiten Abschnitten ist, liegt, die gedachte Achse, die parallel zu den langen sechsten Abschnitten ist, in einem 45°-Winkel in Bezug auf die gedachte Achse, die parallel zu den langen zweiten und dritten Abschnitten ist, liegt, die gedachte Achse, die parallel zu den langen siebten Abschnitten ist, in einem 45°-Winkel in Bezug auf die gedachte Achse, die parallel zu den langen dritten und vierten Abschnitten ist, liegt und die gedachte Achse, die parallel zu den langen achten Abschnitten ist, in einem 45°-Winkel in Bezug auf die gedachte Achse, die parallel zu den langen ersten und vierten Abschnitten ist, liegt.
  9. Bewegungssensor nach Anspruch 8, wobei der erste Magnetowiderstand, der zweite Magnetowiderstand, der dritte Magnetowiderstand und der vierte Magnetowiderstand zueinander konzentrisch sind.
  10. Erfassungsverfahren, das Folgendes umfasst:
    Positionieren eines Sensors in der Nähe eines Ziels (14, 32), das einen mehrpoligen Magneten enthält, wobei
    der Sensor Folgendes enthält:
    ein Halbleitersubstrat (44);
    einen ersten Magnetsensor (40), der auf dem Halbleitersubstrat (44) gebildet ist, wobei der erste Magnetsensor (40) konfiguriert ist, als Antwort auf eine Bewegung des mehrpoligen Magneten ein erstes Ausgangssignal zu erzeugen, und
    einen zweiten Magnetsensor (42), der auf dem Halbleitersubstrat (44) gebildet ist, wobei ein Schwerpunkt (51) des ersten Magnetsensors (40) und ein Schwerpunkt (53) des zweiten Magnetsensors (42) getrennt und auf dem Halbleitersubstrat (44) in Bezug auf das Zentrum des mehrpoligen Magneten radial ausgerichtet sind, wobei der zweite Magnetsensor (42) in einem vorgegebenen Winkel in Bezug auf den ersten Magnetsensor (40) angeordnet ist und der zweite Magnetsensor (42) konfiguriert ist, als Antwort auf eine Bewegung des mehrpoligen Magneten ein zweites Ausgangssignal zu erzeugen, wobei der vorgegebene Winkel konfiguriert ist, als Antwort auf eine Bewegung des mehrpoligen Magneten eine Phasendifferenz zwischen dem ersten und dem zweiten Ausgangssignal zu erzeugen;
    Erfassen einer Bewegung des Ziels (14, 32) mit dem Sensor und
    Erzeugen eines Ausgangsignals als Antwort auf das Erfassen, wobei das Ausgangsignal eine Geschwindigkeit und/oder eine Bewegungsrichtung des Ziels (14, 32) in Bezug auf den Sensor angibt; wobei
    der erste Magnetsensor (40) ein erstes, ein zweites, ein drittes und ein viertes Magnetsensorelement (46, 48, 50, 52) enthält, die derart verbunden sind, dass sie eine erste Wheatstone-Brücke bilden, und der zweite Magnetsensor (42) ein fünftes, ein sechstes, ein siebtes und ein achtes Magnetsensorelement (54, 56, 58, 60) enthält, die derart verbunden sind, dass sie eine zweite Wheatstone-Brücke bilden;
    der Schwerpunkt (51) des ersten Magnetsensors (40) ein Massenschwerpunkt des ersten, des zweiten, des dritten und des vierten Magnetsensorelements (46, 48, 50, 52) ist;
    der Schwerpunkt (53) des zweiten Magnetsensors (42) ein Massenschwerpunkt des fünften, des sechsten, des siebten und des achten Magnetsensorelements (54, 56, 58, 60) ist und
    die Größe und die radiale Ausrichtung der zwei Magnetsensoren (40, 42) derart ausgewählt ist, dass sie einem im Wesentlichen einheitlichen Magnetfeld ausgesetzt sind.
  11. Verfahren nach Anspruch 10, das ferner einen oder mehrere in Reihe geschaltete Widerstände (440, 442) umfasst, die in Reihe mit einem Quellenverbinder (30, 430) oder einem Ausgangsverbinder (16, 416) der ersten Wheatstone-Brücke oder der zweiten Wheatstone-Brücke angeordnet sind.
  12. Verfahren nach Anspruch 11, wobei mindestens einer des einen oder der mehreren in Reihe geschalteten Widerstände (440, 442) einen Widerstand mit einem negativem Temperaturkoeffizienten umfasst.
  13. Verfahren nach Anspruch 10, wobei der erste Magnetsensor (40) und der zweite Magnetsensor (42) komplanar sind.
EP16190758.9A 2015-09-29 2016-09-27 Amr-geschwindigkeits- und richtungssensor für den einsatz mit magnetischen zielen Active EP3151017B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US201562234432P 2015-09-29 2015-09-29

Publications (3)

Publication Number Publication Date
EP3151017A2 EP3151017A2 (de) 2017-04-05
EP3151017A3 EP3151017A3 (de) 2017-06-28
EP3151017B1 true EP3151017B1 (de) 2018-12-12

Family

ID=57047003

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16190758.9A Active EP3151017B1 (de) 2015-09-29 2016-09-27 Amr-geschwindigkeits- und richtungssensor für den einsatz mit magnetischen zielen

Country Status (3)

Country Link
US (2) US11448659B2 (de)
EP (1) EP3151017B1 (de)
CN (1) CN206740791U (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9999107B1 (en) * 2016-12-14 2018-06-12 Allegro Microsystems, Llc Light emitting diode driver for dimming and on/off control
US10302457B2 (en) * 2017-01-17 2019-05-28 Texas Instruments Incorporated Structure and design of an anisotropic magnetoresistive angular sensor
EP3707477B1 (de) * 2017-11-07 2023-07-05 CTS Corporation Drehstellungssensorbaugruppe mit schalter und gemustertem magnet
US11933641B2 (en) 2020-01-15 2024-03-19 Honeywell International Inc. Position detection apparatus, method, and system utilizing an array of magnetic sensors each comprising a sensor signal conditioning circuit
CN113570649B (zh) * 2021-09-26 2022-03-08 南方电网数字电网研究院有限公司 基于三维模型的重力方向确定方法、装置、计算机设备

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2264834A (en) 1936-05-21 1941-12-02 Gen Electric Temperature compensating resistor and method of making the same
US3846697A (en) * 1972-11-14 1974-11-05 Airpax Electronics Digital pickup
DE3634576A1 (de) 1986-10-10 1988-04-14 Knuefelmann Manfred Drehzahlmessvorrichtung, insbesondere fuer antiblockiervorrichtungen in fahrzeugen
NL8900750A (nl) 1989-03-28 1990-10-16 Philips Nv Inrichting voor het meten van een relatieve verplaatsing.
JP3726418B2 (ja) * 1997-04-18 2005-12-14 株式会社デンソー 回転検出装置
JPH11218405A (ja) 1998-02-04 1999-08-10 Matsushita Electric Ind Co Ltd 回転位置検出器
US6501678B1 (en) * 1999-06-18 2002-12-31 Koninklijke Philips Electronics N.V. Magnetic systems with irreversible characteristics and a method of manufacturing and repairing and operating such systems
CN1237323C (zh) * 2000-06-27 2006-01-18 特莎有限公司 具有磁阻电极的测量装置及其测量方法
US6784659B2 (en) * 2001-12-05 2004-08-31 Honeywell International Inc. Magnetoresistive speed and direction sensing method and apparatus
US6667682B2 (en) * 2001-12-26 2003-12-23 Honeywell International Inc. System and method for using magneto-resistive sensors as dual purpose sensors
DE10342260B4 (de) * 2003-09-11 2014-11-20 Meas Deutschland Gmbh Magnetoresistiver Sensor in Form einer Halb- oder Vollbrückenschaltung
US20060006864A1 (en) * 2004-07-08 2006-01-12 Honeywell International, Inc. Integrated magnetoresitive speed and direction sensor
US7714694B2 (en) * 2004-09-21 2010-05-11 Microbridge Technologies Canada, Inc. Compensating for linear and non-linear trimming-induced shift of temperature coefficient of resistance
US7126327B1 (en) 2005-07-22 2006-10-24 Honeywell International Inc. Asymmetrical AMR wheatstone bridge layout for position sensor
US7279891B1 (en) * 2006-06-15 2007-10-09 Honeywell International Inc. Permalloy bridge with selectable wafer-anistropy using multiple layers
US7915886B2 (en) 2007-01-29 2011-03-29 Honeywell International Inc. Magnetic speed, direction, and/or movement extent sensor
US7834616B2 (en) * 2007-01-29 2010-11-16 Honeywell International Inc. Magnetic speed, direction, and/or movement extent sensor
US7592803B1 (en) * 2008-06-23 2009-09-22 Magic Technologies, Inc. Highly sensitive AMR bridge for gear tooth sensor
US8058866B2 (en) * 2008-09-08 2011-11-15 Infineon Technologies Ag Off-center angle measurement system
WO2011001667A1 (ja) * 2009-06-30 2011-01-06 旭化成エレクトロニクス株式会社 磁気センサ
EP2360455B1 (de) * 2010-02-04 2012-12-26 Nxp B.V. Magnetfeldwinkelsensor und -messverfahren
US9316706B2 (en) * 2012-06-11 2016-04-19 Infineon Technologies Ag Minimum magnetic field detection systems and methods in magnetoresistive sensors
JP5967382B2 (ja) * 2014-03-17 2016-08-10 Tdk株式会社 回転磁界センサおよびそれを用いた角度決定方法
US20160238635A1 (en) * 2015-02-18 2016-08-18 Infineon Technologies Ag Offset voltage compensation

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
US20170089940A1 (en) 2017-03-30
US20220381800A1 (en) 2022-12-01
EP3151017A2 (de) 2017-04-05
EP3151017A3 (de) 2017-06-28
US11448659B2 (en) 2022-09-20
CN206740791U (zh) 2017-12-12

Similar Documents

Publication Publication Date Title
US7834616B2 (en) Magnetic speed, direction, and/or movement extent sensor
EP3151017B1 (de) Amr-geschwindigkeits- und richtungssensor für den einsatz mit magnetischen zielen
US7915886B2 (en) Magnetic speed, direction, and/or movement extent sensor
JP5480967B2 (ja) 多周期的絶対位置検出器
EP2284495B1 (de) Magnetischer Sensor
JP5189206B2 (ja) 磁場方向の測定値とフラックスコレクタとを用いる磁気位置センサ
CN108426588B (zh) 旋转编码器及其绝对角度位置检测方法
US8659289B2 (en) Rotating field sensor
US8253413B2 (en) System that obtains a switching point with the encoder in a static position
US8604780B2 (en) Rotating field sensor
US9200924B2 (en) Magnetic out-of-axis angle sensing principle
US11002565B2 (en) Path sensor
US8970210B2 (en) Bidirectional magnetic position sensor having field rotation
US20040189285A1 (en) Magnetic sensor adjusting method, magnetic sensor adjusting device and magnetic sensor
US20170045380A1 (en) Rotary sensing device
US20170183034A1 (en) Sensing device, sensing system and steering system
EP2180295A1 (de) Inkrementale Positions-, Geschwindigkeits- und Richtungserkennungsvorrichtung und Verfahren für drehende Objekte unter Nutzung eines magnetischen Widerstandsensors
US20190242764A1 (en) Magnetic field torque and/or angle sensor
US10914609B2 (en) System and method for angle sensing using magnet having asymmetric magnetization configuration
JP2008008699A (ja) 回転検出装置
EP3273203B1 (de) Verschiebungsdetektionsvorrichtung
US11639860B2 (en) Absolute position detection device and detection method of rotating body using magnetic material
JP2556851B2 (ja) 磁気抵抗素子
JP2020153981A (ja) 回転部材の少なくとも１つの回転パラメータを決定するシステム
JP5548074B2 (ja) 回転角検出装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20160927

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RIC1 Information provided on ipc code assigned before grant

Ipc: G01P 13/04 20060101ALI20170522BHEP

Ipc: G01D 5/245 20060101ALI20170522BHEP

Ipc: G01P 3/487 20060101AFI20170522BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20180719

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1076721

Country of ref document: AT

Kind code of ref document: T

Effective date: 20181215

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602016008066

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20181212

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190312

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190312

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1076721

Country of ref document: AT

Kind code of ref document: T

Effective date: 20181212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190313

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190412

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190412

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602016008066

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

26N No opposition filed

Effective date: 20190913

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190930

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190927

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190930

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190927

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20190930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20160927

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20230926

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230926

Year of fee payment: 8

Ref country code: DE

Payment date: 20230928

Year of fee payment: 8